# order is:
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0

# Root(body)
0.000000 0.785000 0.000000
1.000000 0.000000 0.000000 0.000000
0.000000 0.000000 0.000000
0.000000 0.000000 0.000000

# body_neck
0.984807753 0.173648178 0 0
0.000000 0.000000 0.000000

# lHip
0.984807753 0.173648178 0 0
0.000000 0.000000 0.000000

# rHip
0.984807753 0.173648178 0 0
0.000000 0.000000 0.000000

# neck_head
1 0 0 0
0.000000 0.000000 0.000000

# lKnee
0.939692621 -0.342020143 0 0 0
0.000000 0.000000 0.000000

# rKnee
0.939692621 -0.342020143 0 0 0
0.000000 0.000000 0.000000

# lFoot
0.984807753 0.173648178 0 0
0 0 0

# rFoot
0.984807753 0.173648178 0 0
0 0 0